Design of Anti-interference System for Fully Autonomous UAV Based on ADRC- EKF Algorithm

摘要

In order to solve the short-time drift problem of height data caused by environmental and noisy pollution, a multi-rotor aircraft control system was designed to prevent the aircraft from falling rapidly in a short time during the autonomous cruise. The problem of data loss due to strong interference on the UAV, which is equipped with the Real-time kinematic (RTK), can be well solved by introducing an inertial measurement unit (IMU) for high resolution, and using an Extended Kalman filter and IMU to calculate system acceleration (ACC) as well as altitude predictions for eliminating height drift due to sensor errors. In addition, the ADRC control algorithm is also introduced to control the attitude of the aircraft, to realize the control compensation, and finally to control the height of the drone through the three- ring cascade PID algorithm. The experimental results show that the proposed algorithm can make the UAV get better height and attitude control even though the external disturbance is unknown.